技术领域technical field
本发明属于自动化检测领域，涉及一种新型数控机床多电机轴线对齐检测装置。The invention belongs to the field of automatic detection and relates to a novel multi-motor axis alignment detection device of a numerical control machine tool.
背景技术Background technique
数控机床的传动系统一般采用基于套筒联轴器的伺服控制系统来实现，通过套筒电机联轴器将多个电机串联一起，使主动轴和从动轴共同旋转以驱动目标物。主动轴和从动轴协同旋转的关键在于两根电机转动轴轴线的对齐程度，在这里不妨简称为“同轴度”。同轴度越高，意味着轴线重合程度越好，电机的主动轴和从动轴的协同效果也越好。The transmission system of CNC machine tools is generally realized by the servo control system based on the sleeve coupling. Multiple motors are connected in series through the sleeve motor coupling, so that the driving shaft and the driven shaft rotate together to drive the target. The key to the coordinated rotation of the driving shaft and the driven shaft lies in the alignment of the axes of the two motor shafts, which may be referred to as "coaxiality" here. The higher the coaxiality, the better the coincidence of the axes, and the better the synergy between the driving shaft and the driven shaft of the motor.
现阶段大多数检测电机轴线是否对齐的工作都采用人工检测的方式。这种方法耗时长、操作复杂、对于操作者的技能要求偏高，已不能满足大规模工业生产的要求。为了提高检测效率，亟需一种能代替人工操作进行自动化检测的装置，以提高电机和机床的装配效率。At present, most of the work of detecting whether the motor axis is aligned is manual detection. This method is time-consuming, complicated to operate, and has high requirements for the operator's skills, which can no longer meet the requirements of large-scale industrial production. In order to improve the detection efficiency, a device that can replace manual operation for automatic detection is urgently needed to improve the assembly efficiency of motors and machine tools.
发明内容Contents of the invention
本发明设计了一种新型数控机床多电机轴线对齐检测装置，该装置能够自动完成数控机床电机轴线对齐检测的功能，有效提高电机和机床的装配效率。The invention designs a novel multi-motor axis alignment detection device for a numerically controlled machine tool, which can automatically complete the function of detecting the axis alignment of a numerically controlled machine tool motor, and effectively improves the assembly efficiency of the motor and the machine tool.
为实现上述目的，本发明提供如下技术方案：To achieve the above object, the present invention provides the following technical solutions:
一种新型数控机床多电机轴线对齐检测装置，主要包括超声波传感器（1）、电机轴线图像识别模块（2）、栏板装置（3）、喷枪（4）、黑色挡板（5）、传送带（6）。A new type of multi-motor axis alignment detection device for CNC machine tools, mainly including an ultrasonic sensor (1), a motor axis image recognition module (2), a fence device (3), a spray gun (4), a black baffle (5), and a conveyor belt ( 6).
所述超声波传感器（1）设置在预设摄像头视场的最右端，用于检测进入视场的目标，当传感器（1）检测到传送带上的被测物体后，传感器（1）就将被测物体的“发现”信号经由数据线反馈给栏板控制器（3-1），栏板控制器（3-1）将控制栏板伸出；所述栏板装置（3）利用“电流的磁效应”制成。线圈（3-6）通电后，周围产生磁场，根据同名磁极相互排斥，磁力将通过弹簧向下排斥条形磁铁，继而牵引可伸缩智能栏板（3-2）伸出，起到对待检测物体的阻隔作用。The ultrasonic sensor (1) is set at the far right end of the preset camera field of view, and is used to detect objects entering the field of view. When the sensor (1) detects the object to be measured on the conveyor belt, the sensor (1) will be tested The "discovery" signal of the object is fed back to the fence controller (3-1) via the data line, and the fence controller (3-1) will control the fence to extend; the fence device (3) uses the "current magnetic effect" is made. After the coil (3-6) is energized, a magnetic field is generated around it. According to the mutual repulsion of the magnetic poles of the same name, the magnetic force will repel the bar magnet downward through the spring, and then pull the retractable smart fence (3-2) out to play the role of detecting the object. barrier effect.
所述栏板装置（3）包括栏板控制器（3-1）、可伸缩智能栏板（3-2）、辅助定位的压力传感器（3-3）、弹簧（3-4）、条形磁铁（3-5）和线圈（3-6），并置于传送带前方。当被测物体到达预设检测位置，并且触压到安装在栏板上的辅助定位的压力传感器（3-3）时，压力传感器将“到位”信号反馈给电机轴线图像识别模块（2）。电机轴线图像识别模块（2）控制激光射灯（2-2）发射激光射线，使得激光投射在黑色挡板上形成定位光斑。以定位光斑为圆心建立电机轴边缘检测范围，即图像待识别区域。利用摄像头（2-1）采集现场照片，采用阈值分割法对电机转轴轮廓像素点进行识别，步骤如下：采用阈值分割方法对待检测电机轴的原始图像进行阈值分割，得到二值图；对该二值图进行邻域轮廓跟踪，即检查当前像素相邻的8个像素点的灰度是否属于某一指定范围(事先设定的范围)，保留特定范围内的像素，最终得到电机轴轮廓；电机轴线图像识别模块（2）利用识别到的电机轴轮廓计算出两个电机转轴的轴线位置，判断两轴线是否对齐。如果不对齐，喷枪会喷出少量明显的点状绿色液体标记物；否则喷枪无动作。The fence device (3) includes a fence controller (3-1), a retractable smart fence (3-2), a pressure sensor (3-3) for auxiliary positioning, a spring (3-4), a strip Magnets (3-5) and coils (3-6), and placed in front of the conveyor belt. When the object to be measured reaches the preset detection position and touches the auxiliary positioning pressure sensor (3-3) installed on the fence, the pressure sensor will feed back the "in place" signal to the motor axis image recognition module (2). The motor axis image recognition module (2) controls the laser spotlight (2-2) to emit laser rays, so that the laser is projected on the black baffle to form a positioning spot. The motor shaft edge detection range is established with the positioning spot as the center, that is, the area to be recognized in the image. Use the camera (2-1) to collect on-site photos, and use the threshold segmentation method to identify the pixel points of the motor shaft contour. The steps are as follows: Use the threshold segmentation method to perform threshold segmentation on the original image of the motor shaft to be detected to obtain a binary image; The value map performs neighborhood contour tracking, that is, checks whether the gray levels of the 8 adjacent pixels of the current pixel belong to a specified range (preset range), keeps the pixels in a specific range, and finally obtains the motor shaft contour; The axis image recognition module (2) uses the recognized outline of the motor shaft to calculate the axis positions of the two motor shafts, and judge whether the two axes are aligned. If misaligned, gun will emit small, distinct dots of green liquid marker; otherwise gun will not move.
电机轴线是否对齐的判断步骤：(1)以列为单位计算图像中电机轴线相素点坐标的平均值，生成标识电机轴线水平程度的直线，并计算出直线的斜率，若斜率相等，或误差在允许范围则进入步骤(2)，否则说明电机轴线不对齐；(2)再计算同一根电机轴上所有相素点位置坐标的平均值，若计算出电机轴线相素坐标平均值相等或误差在允许范围内，则认为电机轴线对齐，符合要求。Steps for judging whether the motor axis is aligned: (1) Calculate the average value of the coordinates of the pixel points of the motor axis in the image in units of columns, generate a straight line marking the horizontal degree of the motor axis, and calculate the slope of the line, if the slope is equal, or the error If it is within the allowable range, go to step (2), otherwise it means that the motor axis is not aligned; (2) Calculate the average value of the position coordinates of all the phase points on the same motor shaft, if the calculated average value of the phase coordinates of the motor axis is equal or error Within the allowable range, it is considered that the axis of the motor is aligned and meets the requirements.
所述喷枪（4）主要利用“电流的磁效应”制成。线圈（4-7）通电后，线圈周围会产生磁场。根据异名磁极相互吸引，磁力将通过弹簧（4-6）向上牵拉条形磁铁（4-5），从而牵拉牵引棒（4-3）和阻塞头（4-2），使得标记涂料（4-4）可以通过喷嘴（4-1）向被测物体喷射标记物。The spray gun (4) is mainly made by utilizing the "magnetic effect of electric current". When the coil (4-7) is energized, a magnetic field is generated around the coil. According to the mutual attraction of different magnetic poles, the magnetic force will pull the bar magnet (4-5) upward through the spring (4-6), thereby pulling the traction rod (4-3) and the blocking head (4-2), so that the marking paint (4-4) The marker can be sprayed to the measured object through the nozzle (4-1).
附图说明Description of drawings
图1为装置的正视图Figure 1 is the front view of the device
图2为装置的俯视图Figure 2 is a top view of the device
图3为栏板装置Figure 3 is the fence device
图4为喷枪装置Figure 4 is the spray gun device
具体实施方式Detailed ways
下面结合附图和实施案例对本发明进行详细说明。The present invention will be described in detail below in conjunction with the accompanying drawings and examples of implementation.
用电机联轴器（7-4）将两被测电机联接起来，放置在传送带（6）上。Use the motor coupling (7-4) to connect the two tested motors and place them on the conveyor belt (6).
超声波发射器（1）不断发送检测声波，当传送带（6）上的被测物体进入预设的范围内，超声波模块将被测物体的“发现”信号经由数据线反馈给栏板控制器（3-1），再由栏板控制器（3-1）将控制栏板（3-2）伸出。The ultrasonic transmitter (1) continuously sends detection sound waves. When the measured object on the conveyor belt (6) enters the preset range, the ultrasonic module will feed back the "discovery" signal of the measured object to the fence controller (3 -1), then the fence controller (3-1) extends the control fence (3-2).
栏板控制器（3-1）发出信号使栏板装置（3）的电源（3-7）通电，在线圈（3-6）的作用下，周围产生磁场，根据同名磁极相互排斥，磁力将通过弹簧向下排斥条形磁铁（3-5），继而牵引可伸缩智能栏板（3-2）向下伸出，起到对目标物体的阻隔作用。The fence controller (3-1) sends out a signal to energize the power supply (3-7) of the fence device (3), and under the action of the coil (3-6), a magnetic field is generated around, and the magnetic poles of the same name repel each other, and the magnetic force will The bar magnet (3-5) is repelled downward by the spring, and then the stretchable intelligent fence (3-2) is pulled downward to protrude downward, so as to block the target object.
在栏板装置（3）下端固定安置压力传感器（3-3），当被测物体到达预设位置，并且触压到传感器（3-3）时，传感器将“到位”信号通过数据线发送给电机轴线图像识别模块（2），电机轴线图像识别模块（2）控制激光射灯（2-2）发射激光射线。此时被测物体到达预设检测位置，摄像头（2-1）正对电机联轴器的中心，左右两边辅助定位的激光射灯（2-2）正对并稍高于电机的转轴（7-3），能够将光投射在黑色挡板(5)上形成定位光斑（8-1）。电机轴线图像识别模块（2）以定位光斑（8-1）为圆心，以略大于电机轴长度的距离为半径建立电机轴待识别区域（8-2）。The pressure sensor (3-3) is fixedly placed at the lower end of the fence device (3). When the measured object reaches the preset position and touches the sensor (3-3), the sensor will send the "in place" signal to the The motor axis image recognition module (2), the motor axis image recognition module (2) controls the laser spotlight (2-2) to emit laser rays. At this time, the measured object reaches the preset detection position, the camera (2-1) is facing the center of the motor coupling, and the laser spotlights (2-2) for auxiliary positioning on the left and right sides are facing and slightly higher than the motor shaft (7 -3), capable of projecting light onto the black baffle (5) to form a positioning spot (8-1). The motor shaft image recognition module (2) takes the positioning light spot (8-1) as the center of a circle, and uses a distance slightly greater than the length of the motor shaft as the radius to establish a motor shaft to-be-recognized area (8-2).
随后电机轴线图像识别模块（2）通过摄像头（2-1）采集图片，并进行阈值分割与特定区域轮廓像素点的提取。程序将执行以下步骤：Then the motor axis image recognition module (2) collects pictures through the camera (2-1), and performs threshold segmentation and extraction of specific area contour pixels. The program will perform the following steps:
采用固定阈值分割方法对待检测的两电机联轴的原始图像进行阈值分割，得到二值图。然后对该二值图进行邻域轮廓跟踪，具体的做法是，检查当前像素相邻的八个像素点的灰度是否属于某一指定范围（事先设定的范围），该范围用以区分轮廓点与非轮廓点，借助阈值分割原理形成只有边缘轮廓的二值图。随后，将该电机轴边缘区域范围内的二值图保存下来，并检测电机轴线是否对齐：(1)以列为单位计算图像中电机轴线相素点坐标的平均值，生成标识电机轴线水平程度的直线，并计算出直线的斜率，若斜率相等，或误差在允许范围则进入步骤(2)，否则说明电机轴线不对齐；(2)再计算同一根电机轴上所有相素点位置坐标的平均值，若计算出电机轴线相素坐标平均值相等或误差在允许范围内，则认为电机轴线对齐，符合要求。A fixed threshold segmentation method is used to perform threshold segmentation on the original image of the two-motor coupling to be detected to obtain a binary image. Then perform neighborhood contour tracking on the binary image. Specifically, check whether the gray levels of the eight adjacent pixels of the current pixel belong to a specified range (preset range), which is used to distinguish the contour Points and non-contour points, using the principle of threshold segmentation to form a binary image with only edge contours. Then, save the binary image within the edge area of the motor shaft, and check whether the motor axis is aligned: (1) calculate the average value of the pixel point coordinates of the motor axis in the image in units of columns, and generate a marker to identify the level of the motor axis and calculate the slope of the straight line, if the slopes are equal, or the error is within the allowable range, go to step (2), otherwise it means that the motor axis is not aligned; (2) calculate the position coordinates of all the phase points on the same motor shaft The average value, if the average value of the phase coordinates of the motor axis is calculated to be equal or the error is within the allowable range, it is considered that the motor axis is aligned and meets the requirements.
当判断结果为不对齐时，电机轴线图像识别模块（2）输出控制信号，使喷枪电源（4-8）通电，线圈（4-7）周围产生磁场，根据异名磁极相互吸引，磁力将通过弹簧（4-6）向上牵拉条形磁铁（4-5），从而拉动牵引棒（4-3）和阻塞头（4-2），使得标记涂料（4-4）通过喷射头（4-1）被喷射到被测物体上，否则喷枪无动作。When the judging result is misalignment, the motor axis image recognition module (2) outputs a control signal to energize the spray gun power supply (4-8), a magnetic field is generated around the coil (4-7), and the magnetic poles attract each other according to different names, and the magnetic force will pass through The spring (4-6) pulls the bar magnet (4-5) upward, which pulls the pull bar (4-3) and plugging head (4-2), allowing the marking paint (4-4) to pass through the spray head (4- 1) It is sprayed onto the object to be measured, otherwise the spray gun has no action.
检测完一个目标物体后，可伸缩智能栏板（3-2）收起。重新启动传送带，进入下一个样品的检测，如此循环，完成电机轴线对齐的自动化检测。After detecting a target object, the retractable smart fence (3-2) is retracted. Restart the conveyor belt to enter the detection of the next sample, and this cycle completes the automatic detection of the alignment of the motor axis.
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610908665.1ACN107962456B (en) | 2016-10-19 | 2016-10-19 | A new type of multi-motor axis alignment detection device for CNC machine tools |
| Application Number | Priority Date | Filing Date | Title |
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| CN201610908665.1ACN107962456B (en) | 2016-10-19 | 2016-10-19 | A new type of multi-motor axis alignment detection device for CNC machine tools |
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| CN107962456Atrue CN107962456A (en) | 2018-04-27 |
| CN107962456B CN107962456B (en) | 2019-11-12 |
| Application Number | Title | Priority Date | Filing Date |
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| CN201610908665.1AActiveCN107962456B (en) | 2016-10-19 | 2016-10-19 | A new type of multi-motor axis alignment detection device for CNC machine tools |
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